faster-lio-converter

Example Dataset:

Download the dataset from Bunker DVI Dataset

Intended use

This small toolset allows to integrate SLAM solution provided by faster-lio with HDMapping. This repository contains ROS 1 workspace that :

• submodule to tested revision of faster-lio
• a converter that listens to topics advertised from odometry node and save data in format compatible with HDMapping.

Dependecies

sudo apt install nlohmann-json3-dev
sudo apt install libgoogle-glog-dev

livox_ros_driver

git clone https://github.com/Livox-SDK/livox_ros_driver.git ws_livox/src
cd ws_livox
catkin_make

Use the following command to update the current ROS package environment :

source ./devel/setup.sh

Building

Clone the repo

mkdir -p /test_ws/src
cd /test_ws/src
git clone https://github.com/marcinmatecki/Faster-LIO-to-hdmapping.git --recursive
cd ..
catkin_make

Usage - data SLAM:

Prepare recorded bag with estimated odometry:

In first terminal record bag:

rosbag record /cloud_registered /Odometry

and start odometry:

cd /test_ws/
source ./devel/setup.sh # adjust to used shell
roslaunch faster_lio mapping_avia.launch
rosbag play your bag file

Usage - conversion:

cd /test_ws/
source ./devel/setup.sh # adjust to used shell
rosrun faster-lio-to-hdmapping listener <recorded_bag> <output_dir>

Modify

src/Faster-LIO-to-HDMapping/src/faster-lio/config/ouster64.yaml

lid_topic: "/os_cloud_node/points"
imu_topic: "/os_cloud_node/imu"

to

lid_topic: "/os1_cloud_node1/points"
imu_topic: "/os1_cloud_node1/imu"

Record the bag file:

rosbag record /cloud_registered /Odometry

Faster LIO Launch:

cd /test_ws/
source ./devel/setup.sh # adjust to used shell
roslaunch faster_lio mapping_ouster64.launch
rosbag play {path_to_bag}

During the record (if you want to stop recording earlier) / after finishing the bag:

In the terminal where the ros record is, interrupt the recording by CTRL+C
Do it also in ros launch terminal by CTRL+C.

Usage - Conversion (ROS bag to HDMapping, after recording stops):

cd /test_ws/
source ./devel/setup.sh # adjust to used shell
rosrun faster-lio-to-hdmapping listener <recorded_bag> <output_dir>